I think what makes Earths plate tectonics the way it is, is oceans of sufficient depth and pressure so that the hydrothermal system operates to remove energy continuously and lead to accretion of minerals within the crust, and lubricates plates moving over each other.

Not sure the situation on Europa, but Mars never had enough gravity for that, and that it has the largest volcano implies that energy builds up and has to periodically escape, and as Venus has no surface water its crust appears to undergo periodic large resurfacings as well.